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Rename endian.h to portable_endian.h
This change renames the endian.h file to portable_endian.h to avoid conflicts caused by circular includes. The third-party endian.h file includes the system's endian.h, which can lead to circular imports due to overlapping filenames. By renaming the file, we eliminate this issue and ensure compatibility in the CMake build process. Additionally, this commit reduces the number of headers that include endian.h, simplifying the library's usage for external projects. Finally, a macOS CI build has been added to verify that the library builds successfully on macOS, ensuring cross-platform compatibility.
1 parent 542731a commit df8a74b

21 files changed

Lines changed: 268 additions & 80 deletions

‎.github/workflows/mac-build.yml‎

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name: macOS build and tests
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on:
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workflow_dispatch:
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pull_request:
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push:
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branches:
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- master
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jobs:
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mac-build:
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name: macOS (${{ matrix.arch }})
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timeout-minutes: 30
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runs-on: ${{ matrix.runner }}
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strategy:
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fail-fast: false
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matrix:
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include:
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- runner: macos-15
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arch: arm64
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- runner: macos-15-intel
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arch: x86_64
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steps:
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- uses: actions/checkout@v6
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- name: configure
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run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DCMAKE_BUILD_TYPE=Debug -DCMAKE_OSX_ARCHITECTURES=${{ matrix.arch }}
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- name: build
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run: cmake --build build
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- name: test
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run: cd build && ctest --output-on-failure

3rdparty/endian/endian.h renamed to 3rdparty/endian/portable_endian.h

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@@ -1,5 +1,5 @@
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//
2-
// endian.h
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// portable_endian.h
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//
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// https://gist.github.com/panzi/6856583
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//
@@ -53,7 +53,6 @@
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# define be64toh(x) betoh64(x)
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# define le64toh(x) letoh64(x)
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#elif defined(_WIN32)
56-
# include <stdlib.h>
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# if BYTE_ORDER == LITTLE_ENDIAN
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# if defined(_MSC_VER)
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# define htobe16(x) _byteswap_ushort(x)

‎CMakeLists.txt‎

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@@ -15,6 +15,8 @@ endif()
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1616

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add_library(urcl
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src/comm/bin_parser.cpp
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src/comm/package_serializer.cpp
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src/comm/tcp_socket.cpp
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src/comm/tcp_server.cpp
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src/control/motion_primitives.cpp
@@ -23,6 +25,7 @@ add_library(urcl
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src/control/script_sender.cpp
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src/control/trajectory_point_interface.cpp
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src/control/script_command_interface.cpp
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src/primary/package_header.cpp
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src/primary/primary_package.cpp
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src/primary/primary_client.cpp
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src/primary/robot_message.cpp
@@ -35,6 +38,7 @@ add_library(urcl
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src/primary/robot_state/kinematics_info.cpp
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src/primary/robot_state/robot_mode_data.cpp
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src/primary/robot_state/configuration_data.cpp
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src/rtde/package_header.cpp
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src/rtde/control_package_pause.cpp
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src/rtde/control_package_setup_inputs.cpp
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src/rtde/control_package_setup_outputs.cpp
@@ -65,17 +69,9 @@ target_compile_features(urcl PUBLIC cxx_std_17)
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6670
if(MSVC)
6771
target_link_libraries(urcl ws2_32)
68-
target_include_directories(urcl PUBLIC
69-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/endian>
70-
$<INSTALL_INTERFACE:include/${PROJECT_NAME}/3rdparty>
71-
)
72-
else()
73-
if(APPLE)
74-
target_include_directories(urcl PUBLIC
75-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/endian>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}/3rdparty>
77-
)
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endif()
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endif()
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if(NOT MSVC)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
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target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
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@@ -120,11 +116,6 @@ install(TARGETS urcl EXPORT urcl_targets
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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)
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install(DIRECTORY include/ DESTINATION include)
123-
if(MSVC OR APPLE)
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install(DIRECTORY 3rdparty/endian/ DESTINATION include/${PROJECT_NAME}/3rdparty
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FILES_MATCHING PATTERN "*.h"
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)
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endif()
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129120
install(EXPORT urcl_targets
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DESTINATION lib/cmake/ur_client_library

‎include/ur_client_library/comm/bin_parser.h‎

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@@ -21,7 +21,6 @@
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#pragma once
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2323
#include <assert.h>
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#include <endian.h>
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#include <inttypes.h>
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#include <array>
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#include <bitset>
@@ -53,30 +52,12 @@ class BinParser
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{
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return val;
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}
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uint16_t decode(uint16_t val)
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{
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return be16toh(val);
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}
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uint32_t decode(uint32_t val)
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{
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return be32toh(val);
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}
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uint64_t decode(uint64_t val)
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{
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return be64toh(val);
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}
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int16_t decode(int16_t val)
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{
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return be16toh(val);
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}
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int32_t decode(int32_t val)
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{
74-
return be32toh(val);
75-
}
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int64_t decode(int64_t val)
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{
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return be64toh(val);
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}
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uint16_t decode(uint16_t val);
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uint32_t decode(uint32_t val);
57+
uint64_t decode(uint64_t val);
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int16_t decode(int16_t val);
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int32_t decode(int32_t val);
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int64_t decode(int64_t val);
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public:
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/*!

‎include/ur_client_library/comm/package_serializer.h‎

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@@ -29,7 +29,6 @@
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#ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
3030
#define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
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#include <endian.h>
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#include <cstdint>
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#include <cstring>
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#include <string>
@@ -146,30 +145,12 @@ class PackageSerializer
146145
{
147146
return val;
148147
}
149-
static uint16_t encode(uint16_t val)
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{
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return htobe16(val);
152-
}
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static uint32_t encode(uint32_t val)
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{
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return htobe32(val);
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}
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static uint64_t encode(uint64_t val)
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{
159-
return htobe64(val);
160-
}
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static int16_t encode(int16_t val)
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{
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return htobe16(val);
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}
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static int32_t encode(int32_t val)
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{
167-
return htobe32(val);
168-
}
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static int64_t encode(int64_t val)
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{
171-
return htobe64(val);
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}
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static uint16_t encode(uint16_t val);
149+
static uint32_t encode(uint32_t val);
150+
static uint64_t encode(uint64_t val);
151+
static int16_t encode(int16_t val);
152+
static int32_t encode(int32_t val);
153+
static int64_t encode(int64_t val);
173154
};
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} // namespace comm

‎include/ur_client_library/control/reverse_interface.h‎

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#include "ur_client_library/ur/robot_receive_timeout.h"
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#include "ur_client_library/ur/version_information.h"
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#include <cstring>
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#include <endian.h>
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#include <condition_variable>
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#include <list>
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‎include/ur_client_library/primary/package_header.h‎

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3333
#include <inttypes.h>
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#include <cstddef>
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#include <endian.h>
3635
#include "ur_client_library/types.h"
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3837
namespace urcl
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7473
*
7574
* \returns The size of the given serialized package
7675
*/
77-
static size_t getPackageLength(uint8_t* buf)
78-
{
79-
return be32toh(*(reinterpret_cast<_package_size_type*>(buf)));
80-
}
76+
static size_t getPackageLength(uint8_t* buf);
8177
};
8278
} // namespace primary_interface
8379
} // namespace urcl

‎include/ur_client_library/rtde/package_header.h‎

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#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
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3333
#include <cstddef>
34-
#include <endian.h>
3534
#include "ur_client_library/types.h"
3635
#include "ur_client_library/comm/package_serializer.h"
3736

@@ -71,10 +70,7 @@ class PackageHeader
7170
*
7271
* \returns The size of the given serialized package
7372
*/
74-
static size_t getPackageLength(uint8_t* buf)
75-
{
76-
return be16toh(*(reinterpret_cast<_package_size_type*>(buf)));
77-
}
73+
static size_t getPackageLength(uint8_t* buf);
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7975
/*!
8076
* \brief Creates a serialization of a header based on given values.

‎src/comm/bin_parser.cpp‎

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
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3+
// -- BEGIN LICENSE BLOCK ----------------------------------------------
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// Copyright 2026 Universal Robots A/S
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//
6+
// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
8+
// You may obtain a copy of the License at
9+
//
10+
// http://www.apache.org/licenses/LICENSE-2.0
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//
12+
// Unless required by applicable law or agreed to in writing, software
13+
// distributed under the License is distributed on an "AS IS" BASIS,
14+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15+
// See the License for the specific language governing permissions and
16+
// limitations under the License.
17+
// -- END LICENSE BLOCK ------------------------------------------------
18+
19+
//----------------------------------------------------------------------
20+
/*!\file
21+
*
22+
* \author Rune Søe-Knudsen rsk@universal-robots.com
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* \date 2026-02-13
24+
*
25+
*/
26+
//----------------------------------------------------------------------
27+
28+
#include <ur_client_library/comm/bin_parser.h>
29+
#include <endian/portable_endian.h>
30+
31+
namespace urcl
32+
{
33+
namespace comm
34+
{
35+
uint16_t BinParser::decode(uint16_t val)
36+
{
37+
return be16toh(val);
38+
}
39+
uint32_t BinParser::decode(uint32_t val)
40+
{
41+
return be32toh(val);
42+
}
43+
uint64_t BinParser::decode(uint64_t val)
44+
{
45+
return be64toh(val);
46+
}
47+
int16_t BinParser::decode(int16_t val)
48+
{
49+
return be16toh(val);
50+
}
51+
int32_t BinParser::decode(int32_t val)
52+
{
53+
return be32toh(val);
54+
}
55+
int64_t BinParser::decode(int64_t val)
56+
{
57+
return be64toh(val);
58+
}
59+
60+
} // namespace comm
61+
} // namespace urcl

‎src/comm/package_serializer.cpp‎

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
2+
3+
// -- BEGIN LICENSE BLOCK ----------------------------------------------
4+
// Copyright 2026 Universal Robots A/S
5+
//
6+
// Licensed under the Apache License, Version 2.0 (the "License");
7+
// you may not use this file except in compliance with the License.
8+
// You may obtain a copy of the License at
9+
//
10+
// http://www.apache.org/licenses/LICENSE-2.0
11+
//
12+
// Unless required by applicable law or agreed to in writing, software
13+
// distributed under the License is distributed on an "AS IS" BASIS,
14+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15+
// See the License for the specific language governing permissions and
16+
// limitations under the License.
17+
// -- END LICENSE BLOCK ------------------------------------------------
18+
19+
//----------------------------------------------------------------------
20+
/*!\file
21+
*
22+
* \author Rune Søe-Knudsen rsk@universal-robots.com
23+
* \date 2026-02-13
24+
*
25+
*/
26+
//----------------------------------------------------------------------
27+
28+
#include <ur_client_library/comm/package_serializer.h>
29+
#include <endian/portable_endian.h>
30+
31+
namespace urcl
32+
{
33+
namespace comm
34+
{
35+
uint16_t PackageSerializer::encode(uint16_t val)
36+
{
37+
return htobe16(val);
38+
}
39+
uint32_t PackageSerializer::encode(uint32_t val)
40+
{
41+
return htobe32(val);
42+
}
43+
uint64_t PackageSerializer::encode(uint64_t val)
44+
{
45+
return htobe64(val);
46+
}
47+
int16_t PackageSerializer::encode(int16_t val)
48+
{
49+
return htobe16(val);
50+
}
51+
int32_t PackageSerializer::encode(int32_t val)
52+
{
53+
return htobe32(val);
54+
}
55+
int64_t PackageSerializer::encode(int64_t val)
56+
{
57+
return htobe64(val);
58+
}
59+
60+
} // namespace comm
61+
} // namespace urcl

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